cdd_v2-1-1_getters.h

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// SPDX-License-Identifier: MIT
// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University

 
#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H
 
#include <GeographicLib/UTMUPS.hpp>
 
#include <etsi_its_msgs_utils/impl/cdd/cdd_getters_common.h>

inline double getLongitudinalAcceleration(const AccelerationComponent& longitudinal_acceleration) {
  return ((double)longitudinal_acceleration.value.value) * 1e-1;
}

inline double getLongitudinalAccelerationConfidence(const AccelerationComponent& longitudinal_acceleration) {
  return ((double)longitudinal_acceleration.confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
}

inline double getLateralAcceleration(const AccelerationComponent& lateral_acceleration) {
  return ((double)lateral_acceleration.value.value) * 1e-1;
}

inline double getLateralAccelerationConfidence(const AccelerationComponent& lateral_acceleration) {
  return ((double)lateral_acceleration.confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
}
 

template <typename PositionConfidenceEllipse>
inline std::tuple<double, double, double> getPositionConfidenceEllipse(PositionConfidenceEllipse& position_confidence_ellipse) {
  return {
    getSemiAxis(position_confidence_ellipse.semi_major_axis_length),
    getSemiAxis(position_confidence_ellipse.semi_minor_axis_length),
    position_confidence_ellipse.semi_major_axis_orientation.value * 1e-1
  };
}

template <typename PositionConfidenceEllipse>
inline std::array<double, 4> getPositionConfidenceEllipse(const PositionConfidenceEllipse& position_confidence_ellipse, const double object_heading){
  auto [semi_major, semi_minor, major_orientation] = getPositionConfidenceEllipse(position_confidence_ellipse);
  return CovMatrixFromConfidenceEllipse(semi_major, semi_minor, major_orientation, object_heading);
}

template <typename PositionConfidenceEllipse>
inline std::array<double, 4> getWGSPositionConfidenceEllipse(const PositionConfidenceEllipse& position_confidence_ellipse){
  auto [semi_major, semi_minor, major_orientation] = getPositionConfidenceEllipse(position_confidence_ellipse);
  return WGSCovMatrixFromConfidenceEllipse(semi_major, semi_minor, major_orientation);
}
 
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H